mil1553_bc_rt_data_assignment.cs

/*****************************************************************************
//
//    File:
//       mil1553_bc_rt_data_assignment.cs
//
//       Copyright (c) MAX Technologies Inc. 1988-2019, All Rights Reserved.
//             CONFIDENTIAL AND PROPRIETARY INFORMATION WHICH IS THE 
//                         PROPERTY OF MAX TECHNOLOGIES INC. 
//
//       This example demonstrates the usage of buffer assignments for BC and RT,
//       periodic update message with asynchronous events, IRIG-B timebase, and
//       fixed delay between messages of the frame.
//
//       Hardware requirements:
//          - MAXT Flex1553-PCIe or FlexMulti or 500 series carrier with IPM-1553-MRT
//
*****************************************************************************/


#define LOOPBACK
#define LOCAL

using System;
using System.Text;
using System.Runtime.InteropServices;

using static MAXT.MXFoundation.mxf;


namespace mil1553_example
{
   public class mil1553_bc_rt_data_assignment
   {

      public struct EVENT_INFO
      {
         public UInt64 bcBuffer0;
         public UInt64 bcBuffer1;
         public UInt64 rtBuffer;

         [StructLayout(LayoutKind.Explicit)]
         public struct Recptr
         {
            [FieldOffset(0)] public IntPtr rtData;
            [FieldOffset(0)] public IntPtr bcData0;
            [FieldOffset(0)] public IntPtr bcData1;

            [FieldOffset(0)] public UInt64 reserved1;
            [FieldOffset(0)] public UInt64 reserved2;
         }
         public Recptr recptr;
      }

      static void Main(string[] args)
      {
         UInt64 server = 0;
         UInt64 device = 0;
         var module = new UInt64[1];
         UInt64 bc = 0;
         UInt64 bm = 0;
         UInt64 rt4 = 0;
         UInt64 rt5 = 0;
         var acq1553Buffer = new UInt64[1];
         var bcBuffer0 = new UInt64[1];
         var bcBuffer1 = new UInt64[1];
         var bcBuffer2 = new UInt64[1];
         var rt4Buffer0 = new UInt64[1];
         var rt4Buffer1 = new UInt64[1];
         var rt5Buffer0 = new UInt64[1];
         var rt5Buffer1 = new UInt64[1];
         var minorFrame = new MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG[5];
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];
         var rxRec1553 = new MXF_MIL1553_DATAREC();
         UInt32 rc = MAXT_SUCCESS;
         UInt32 txDataSize = 4096;
         IntPtr bcData0 = IntPtr.Zero;
         IntPtr bcData1 = IntPtr.Zero;
         IntPtr rtData = IntPtr.Zero;
         UInt32 rxDataSize = 0;
         IntPtr rxData = IntPtr.Zero;
         UInt64 rxAcqStatus;
         UInt64 msgCount;
         UInt64 byteCount;
         UInt64 rxRec;
         UInt64 loop = 0;
         UInt32 data;
         var errorString = new StringBuilder(200);
         UInt64 rate;
         UInt64 last = 0, moduleCount = 0;
         UInt64 irigbStatus = 0;
         UInt64 asyncEvent = 0;
         var condition = new MXF_ASYNCEVENT_CONDITION[1];
         var bcCondition = new MXF_ASYNCEVENT_CONDITION[1];
         var eventInfo = new EVENT_INFO();
         IntPtr eventInfoPtr = IntPtr.Zero;
         MXF_ASYNCEVENT_HANDLER EventHandler = eventHandler;


#if (LOCAL)
            rc = mxfServerConnect("0.0.0.0", "", "", Convert.ToUInt64(false), out server);
#else
         rc = mxfServerConnect("192.168.0.1", "admin", "admin", Convert.ToUInt64(false), out server);
#endif

         // Initialize MX Foundation library
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting ...\n\r");
            rc = mxfSystemInit(server);
         }
         // Get handle of first device
         if (rc == MAXT_SUCCESS)
            rc = mxfSystemDeviceGet(server, 0, out device);
         // Get handle of first module
         if (rc == MAXT_SUCCESS)
         {
            rc = mxfDeviceModuleAllGet(device, MXF_MODULE_MIL1553MRT_EH, 1, out moduleCount, module);
            if (rc == MAXT_SUCCESS && moduleCount == 0)
               rc = mxfDeviceModuleAllGet(device, MXF_MODULE_MIL1553MRT, 1, out moduleCount, module);
         }
         // Get handle of first MIL1553 Bus controller channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 1, out bc);
         // Get handle of first MIL1553 Bus monitor channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 0, out bm);
         // Get handle of MIL1553 remote terminal 4 channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 2 + 4, out rt4);
         // Get handle of MIL1553 remote terminal 5 channel
         if (rc == MAXT_SUCCESS)
            rc = mxfModuleChannelGet(module[0], 2 + 5, out rt5);

#if LOOPBACK
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(bm, KMXF_MIL1553_TX_RX_TEST_LB, VMXF_ENABLE);
#endif


         // Allocate 4KB buffer for bc data buffer 0
         if (rc == MAXT_SUCCESS)
         {
            txDataSize = 4096;
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 0, txDataSize, out bcBuffer0[0], IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  bcData0 = Marshal.AllocHGlobal((int)txDataSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }
         // Allocate 4KB buffer for bc data buffer 1
         if (rc == MAXT_SUCCESS)
         {
            txDataSize = 4096;
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 1, txDataSize, out bcBuffer1[0], IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  bcData1 = Marshal.AllocHGlobal((int)txDataSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }
         // Allocate 0KB buffer for bc data buffer 2
         if (rc == MAXT_SUCCESS)
         {
            txDataSize = 0;
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(bc, 2, txDataSize, out bcBuffer2[0], IntPtr.Zero);
         }

         // Allocate 4KB buffer for rt4 data buffer
         if (rc == MAXT_SUCCESS)
         {
            txDataSize = 4096;
            // RX 0-31 -. 0-31
            // TX 0-31 -. 32-63
            // MODE-CODE 0-31 -. 64-95
            // RT 4 SA 1 RX
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt4, 1, txDataSize, out rt4Buffer0[0], IntPtr.Zero);
            // RT 4 SA 30 RX
            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt4, 30, txDataSize, out rt4Buffer1[0], IntPtr.Zero);
         }

         // Allocate 4KB buffer for rt5 data buffer
         if (rc == MAXT_SUCCESS)
         {
            txDataSize = 4096;
            // RT 5 SA 1 RX
            rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt5, 1, txDataSize, out rt5Buffer0[0], IntPtr.Zero);
            // RT 5 SA 1 TX
            if (rc == MAXT_SUCCESS)
               rc = mxfTxPeriodicUpdateMsgBufferAlloc(rt5, 33, txDataSize, out rt5Buffer1[0], IntPtr.Zero);

            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  rtData = Marshal.AllocHGlobal((int)txDataSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }

         // Allocate 10KB buffer for 1553 acquisition data
         if (rc == MAXT_SUCCESS)
         {
            rxDataSize = 10 * 1024;
            rc = mxfRxAcqBufferAlloc(bm, rxDataSize, out acq1553Buffer[0], IntPtr.Zero);
            // Host allocation
            if (rc == MAXT_SUCCESS)
            {
               try
               {
                  rxData = Marshal.AllocHGlobal((int)rxDataSize);
               }
               catch (OutOfMemoryException)
               {
                  rc = MAXT_ERROR_MEM;
               }
            }
         }

         // Configure IRIG-B
         // Enable IRIG-B generator
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Configuring IRIG-B\n");
            rc = mxfAttributeUint64Set(device, KMXF_DEVICE_IRIGB_GEN_ENABLE, VMXF_ENABLE);
         }
         // Enable IRIG-B internal loopback
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(device, KMXF_DEVICE_IRIGB_GEN_LOOPBACK_ENABLE, VMXF_ENABLE);

         // Set IRIG-B input to device input
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(device, KMXF_DEVICE_IRIGB_INPUT, VMXF_DEVICE_IRIGB_INPUT_DEVICE);

         // Set IRIG-B signal to digital
         if (rc == MAXT_SUCCESS)
            rc = mxfAttributeUint64Set(device, KMXF_DEVICE_IRIGB_INPUT_SIGNAL, VMXF_DEVICE_IRIGB_INPUT_SIGNAL_DIGITAL);

         // Wait IRIG-B signal locked
         if (rc == MAXT_SUCCESS)
         {
            do
            {
               rc = mxfDeviceIrigbStatusGet(device, out irigbStatus);
            } while (rc == MAXT_SUCCESS && (irigbStatus != MXF_IRIGB_STATUS_NO_SIGNAL) && (irigbStatus != MXF_IRIGB_STATUS_LOCKED));
         }

         // Set timebase to IRIG-B nsec
         if (rc == MAXT_SUCCESS)
         {
            if (irigbStatus == MXF_IRIGB_STATUS_LOCKED)
               rc = mxfSystemTimeBaseSet(server, MXF_TIMEBASE_IRIGB_NSEC);
            else
            {
               Console.Write("No IRIG-B signal found\n\r");
               rc = mxfSystemTimeBaseSet(server, MXF_TIMEBASE_COMPUTER_NSEC);
            }
         }


         // Set the minor frame #0 using 5 Commands
         if (rc == MAXT_SUCCESS)
         {
            // Command #0 : Address 4, Subaddress 1, RX, 4 words
            rc = mxfMIL1553CommandCompose(4, 1, MXF_MIL1553_COMMAND_DIR_RX, 4, out minorFrame[0].command);
            minorFrame[0].modulo = 1;
            minorFrame[0].buffer = bcBuffer0[0]; // link command to bcBuffer0

            // Command #1 : Address 5, Subaddress 1, RX, 4 words
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(5, 1, MXF_MIL1553_COMMAND_DIR_RX, 4, out minorFrame[1].command);
               minorFrame[1].modulo = 1;
               minorFrame[1].buffer = bcBuffer0[0]; // link command to bcBuffer0
               minorFrame[1].delay = 8000; // send command 1 msec after preceding command
               minorFrame[1].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
            }

            // Command #2 : Address 4, Subaddress 30, RX, 4 words
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(4, 30, MXF_MIL1553_COMMAND_DIR_RX, 4, out minorFrame[2].command);
               minorFrame[2].modulo = 1;
               minorFrame[2].buffer = bcBuffer1[0]; // link command to bcBuffer1
               minorFrame[2].delay = 8000; // send command 1 msec after preceding command
               minorFrame[2].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
            }

            // Command #3 : Address 4, Subaddress 30, TX, 4 words
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(4, 30, MXF_MIL1553_COMMAND_DIR_TX, 4, out minorFrame[3].command);
               minorFrame[3].modulo = 1;
               minorFrame[3].buffer = bcBuffer2[0]; // link command to bcBuffer2
               minorFrame[3].delay = 8000; // send command 1 msec after preceding command
               minorFrame[3].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
            }

            // Command #4 : Address 5, Subaddress 1, TX, 4 words
            if (rc == MAXT_SUCCESS)
            {
               rc = mxfMIL1553CommandCompose(5, 1, MXF_MIL1553_COMMAND_DIR_TX, 4, out minorFrame[4].command);
               minorFrame[4].modulo = 1;
               minorFrame[4].buffer = bcBuffer2[0]; // link command to bcBuffer2
               minorFrame[4].delay = 8000; // send command 1 msec after preceding command
               minorFrame[4].options = MXF_MIL1553_TXPERIODIC_MJRFRAME_MSG_OPT_DELAY;
            }

            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553TxPeriodicMajorFrameSet(bc, 0, 0, 5, minorFrame, IntPtr.Zero);
         }

         // Set default data for bc buffer 0
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 1;
            txRec1553.dataSize = 10; //10 bytes (command + 4 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0x0000;
            txRec1553.data[2] = 0x1111;
            txRec1553.data[3] = 0x2222;
            txRec1553.data[4] = 0x3333;

            Marshal.StructureToPtr(txRec1553, bcData0, true);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBuffer0[0], 1, bcData0);
         }

         // Set default data for bc buffer 1
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 1;
            txRec1553.dataSize = 10; //10 bytes (command + 4 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0x1234;
            txRec1553.data[2] = 0x5678;
            txRec1553.data[3] = 0x9ABC;
            txRec1553.data[4] = 0xDEF0;

            Marshal.StructureToPtr(txRec1553, bcData1, true);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(bcBuffer1[0], 1, bcData1);
         }
         // Set default data for rt5 buffer 1
         if (rc == MAXT_SUCCESS)
         {
            txRec1553.repeatCount = 1;
            txRec1553.dataSize = 10; //10 bytes (command + 4 words)
            txRec1553.data[0] = 0x0000; //Not used
            txRec1553.data[1] = 0xAAAA;
            txRec1553.data[2] = 0xBBBB;
            txRec1553.data[3] = 0xCCCC;
            txRec1553.data[4] = 0xDDDD;

            Marshal.StructureToPtr(txRec1553, rtData, true);

            rc = mxfMIL1553TxPeriodicUpdateMsgWrite(rt5Buffer1[0], 1, rtData);
         }

         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting RT 4\n\r");
            rc = mxfMIL1553RtSubsystemEnableSet(rt4, MXF_MIL1553_MSGTYPE_RX, 1, MXF_MIL1553_BUS_A, rt4Buffer0[0]);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtSubsystemEnableSet(rt4, MXF_MIL1553_MSGTYPE_RX, 30, MXF_MIL1553_BUS_A, rt4Buffer1[0]);
            // link RT4 SA30 TX buffer to RT4 SA30 RX buffer (data wrap-around)
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtSubsystemEnableSet(rt4, MXF_MIL1553_MSGTYPE_TX, 30, MXF_MIL1553_BUS_A, rt4Buffer1[0]);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtEnableSet(rt4, VMXF_ENABLE);
         }
         if (rc == MAXT_SUCCESS)
         {
            Console.Write("Starting RT 5\n\r");
            rc = mxfMIL1553RtSubsystemEnableSet(rt5, MXF_MIL1553_MSGTYPE_RX, 1, MXF_MIL1553_BUS_A, rt5Buffer0[0]);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtSubsystemEnableSet(rt5, MXF_MIL1553_MSGTYPE_TX, 1, MXF_MIL1553_BUS_A, rt5Buffer1[0]);
            if (rc == MAXT_SUCCESS)
               rc = mxfMIL1553RtEnableSet(rt5, VMXF_ENABLE);
         }

         // attach async event handler
         if (rc == MAXT_SUCCESS)
         {
            eventInfo.recptr.rtData = rtData;
            eventInfo.recptr.bcData0 = bcData0;
            eventInfo.recptr.bcData1 = bcData1;
            eventInfo.bcBuffer0 = bcBuffer0[0];
            eventInfo.bcBuffer1 = bcBuffer1[0];
            eventInfo.rtBuffer = rt5Buffer1[0];

            //allocate memory
            try
            {
               eventInfoPtr = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(EVENT_INFO)));
            }
            catch (OutOfMemoryException)
            {
               rc = MAXT_ERROR_MEM;
            }

            Marshal.StructureToPtr(eventInfo, eventInfoPtr, true);

            if (rc == MAXT_SUCCESS)
               rc = mxfAsyncEventHandlerInit(server, EventHandler, eventInfoPtr, out asyncEvent); //attach async event handler
         }

         // set event condition on TX periodic update message threshold for RT5
         if (rc == MAXT_SUCCESS)
         {
            condition[0].condID = MXF_ASYNCEVENT_COND_TXPERIODIC_UPDATEMSG_BUFFER_THRESHOLD;
            condition[0].condition.txPeriodicUpdateMsgBufferThreshold.almostEmpty = 5;
            condition[0].condition.txPeriodicUpdateMsgBufferThreshold.almostFull = 10;
            condition[0].condition.txPeriodicUpdateMsgBufferThreshold.channel = rt5;
            rc = mxfAsyncEventConditionsSet(asyncEvent, VMXF_ENABLE, 1, condition);
         }

         // set event condition on TX periodic update message threshold for BC
         if (rc == MAXT_SUCCESS)
         {
            bcCondition[0].condID = MXF_ASYNCEVENT_COND_TXPERIODIC_UPDATEMSG_BUFFER_THRESHOLD;
            bcCondition[0].condition.txPeriodicUpdateMsgBufferThreshold.almostEmpty = 5;
            bcCondition[0].condition.txPeriodicUpdateMsgBufferThreshold.almostFull = 10;
            bcCondition[0].condition.txPeriodicUpdateMsgBufferThreshold.channel = bc;
            rc = mxfAsyncEventConditionsSet(asyncEvent, VMXF_ENABLE, 1, bcCondition);
         }


         // Select BC buffers and RT buffer for async events
         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventTxPeriodicUpdateMsgSelectSet(asyncEvent, rt5, MXF_MSG_SELECT_ONLY, 1, rt5Buffer1);

         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventTxPeriodicUpdateMsgSelectSet(asyncEvent, bc, MXF_MSG_SELECT_ONLY, 1, bcBuffer0);

         if (rc == MAXT_SUCCESS)
            rc = mxfAsyncEventTxPeriodicUpdateMsgSelectSet(asyncEvent, bc, MXF_MSG_SELECT_ADD, 1, bcBuffer1);

         // Start BM acquisition
         if (rc == MAXT_SUCCESS)
            rc = mxfRxAcqStart(acq1553Buffer[0], MXF_RXACQ_FLAG_DEFAULT, 0, 0);

         // Start the major frame
         if (rc == MAXT_SUCCESS)
            rc = mxfMIL1553TxPeriodicMajorFrameStart(bc, 0, 50 * 1000 * 1000, IntPtr.Zero); //50 msec
         if (rc == MAXT_SUCCESS)
         {
            mxfSleep(2000);
            rc = mxfTxPeriodicMajorFrameStop(bc, 0, 0);
         }


         // Read and display received messages
         if (rc == MAXT_SUCCESS)
         {
            var recPtr = new IntPtr();
            do
            {
               rc = mxfMIL1553RxAcqRead(acq1553Buffer[0], 0, rxDataSize, out rxAcqStatus, out msgCount, out byteCount, rxData);

               recPtr = rxData;
               for (rxRec = 0; rc == MAXT_SUCCESS && rxRec < msgCount; rxRec++)
               {
                  rxRec1553 = (MXF_MIL1553_DATAREC)Marshal.PtrToStructure(recPtr, typeof(MXF_MIL1553_DATAREC));

                  rate = last > 0 ? ((rxRec1553.timeTag - last) / 1000000) : 0;//msec
                  last = rxRec1553.timeTag;
                  Console.Write("{0:d12} ", rxRec1553.timeTag);
                  Console.Write("{0:d3}  ", rate);
                  Console.Write("{0:X8} ", rxRec1553.control);
                  Console.Write("{0:d4} ", (rxRec1553.dataSize / 2) - 1);
                  for (data = 0; data < Math.Min(8, rxRec1553.dataSize / 2); data++)
                  {
                     Console.Write("{0:X4} ", rxRec1553.data[data]);
                  }
                  Console.Write("\n\r");
                  // Get next msg
                  rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
               }
               mxfSleep(100);
               loop++;
            }
            while (loop < 20);
         }

         // Clear the major frame
         mxfTxPeriodicMajorFrameClear(bc, 0);

         // Stop acquisition
         mxfRxAcqStop(acq1553Buffer[0]);

         // Stop and Clear message queues
         Console.Write("Stopping BC and RTs\n\r");
         mxfMIL1553RtEnableSet(rt4, VMXF_DISABLE);
         mxfMIL1553RtEnableSet(rt5, VMXF_DISABLE);

         // Disable conditions and detach event handler
         mxfAsyncEventConditionsSet(asyncEvent, VMXF_DISABLE, 1, condition);
         mxfAsyncEventConditionsSet(asyncEvent, VMXF_DISABLE, 1, bcCondition);
         mxfAsyncEventHandlerTerminate(asyncEvent);

         mxfTxPeriodicUpdateMsgClear(bcBuffer0[0], 0);
         mxfTxPeriodicUpdateMsgClear(bcBuffer1[0], 0);
         mxfTxPeriodicUpdateMsgClear(rt5Buffer1[0], 0);

         mxfRxAcqClear(acq1553Buffer[0]);

         // Free buffers
         if (bcData0 != IntPtr.Zero)
            Marshal.FreeHGlobal(bcData0);

         if (bcData1 != IntPtr.Zero)
            Marshal.FreeHGlobal(bcData1);

         if (rtData != IntPtr.Zero)
            Marshal.FreeHGlobal(rtData);

         if (rxData != IntPtr.Zero)
            Marshal.FreeHGlobal(rxData);

         if (rc != MAXT_SUCCESS)
         {
            if (mxfSystemErrorStringGet(server, rc, (UInt32)errorString.Capacity, errorString) != MAXT_SUCCESS)
            {
               errorString.Clear();
               errorString.Append(string.Format("ERROR # 0x{0:x8}", rc));
            }
            Console.Write(errorString + "\n\r");
         }

         //Free all buffers and terminate
         if (bcBuffer0[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(bcBuffer0[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (bcBuffer1[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(bcBuffer1[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (bcBuffer2[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(bcBuffer2[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (rt4Buffer0[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(rt4Buffer0[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (rt4Buffer1[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(rt4Buffer1[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (rt5Buffer0[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(rt5Buffer0[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (rt5Buffer1[0] > 0)
         {
            rc = mxfTxPeriodicUpdateMsgBufferFree(rt5Buffer1[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         if (acq1553Buffer[0] > 0)
         {
            rc = mxfRxAcqBufferFree(acq1553Buffer[0]);
            if (rc != MAXT_SUCCESS)
               Console.Write("Free buffer failed !\n\r");
         }
         // Unload MX Foundation library
         mxfSystemTerminate(server);

         mxfServerDisconnect(server);

         Console.Write("\n\rPress enter to terminate\n\r");
         Console.ReadKey();

         return;
      }


      private static UInt32 eventHandler(UInt64 asyncEvent, IntPtr pParam)
      {

         EVENT_INFO eventInfo;
         var pendingList = new MXF_ASYNCEVENT_PENDING_INFO[1];
         UInt32 rc = 0;
         UInt64 eventCount;
         UInt64 rec;
         var txRec1553 = new MXF_MIL1553_DATAREC();
         txRec1553.data = new UInt16[36];
         IntPtr recPtr = IntPtr.Zero;

         eventInfo = (EVENT_INFO)Marshal.PtrToStructure(pParam, typeof(EVENT_INFO));

         // Get pending event
         rc = mxfAsyncEventPendingGet(asyncEvent, 1, out eventCount, pendingList);

         if (rc == MAXT_SUCCESS)
         {
            switch (pendingList[0].condID)
            {
               case MXF_ASYNCEVENT_COND_TXPERIODIC_UPDATEMSG_BUFFER_THRESHOLD:
                  // Set data for rt5 buffer 1
                  if (pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer == eventInfo.rtBuffer)
                  {
                     recPtr = eventInfo.recptr.rtData;

                     for (rec = 0; rec < pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.almostFull; rec++)
                     {
                        txRec1553.repeatCount = 1;
                        txRec1553.dataSize = 10; //10 bytes (command + 4 words)
                        txRec1553.data[0] = 0x0000; //Not used
                        txRec1553.data[1] = (UInt16)rec;
                        txRec1553.data[2] = (UInt16)rec;
                        txRec1553.data[3] = (UInt16)rec;
                        txRec1553.data[4] = (UInt16)rec;
                        Marshal.StructureToPtr(txRec1553, recPtr, false);

                        rc = mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
                     }
                     rc = mxfMIL1553TxPeriodicUpdateMsgWrite(pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer, rec, eventInfo.recptr.rtData);
                  }
                  // Set data for BC buffer 0
                  else if (pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer == eventInfo.bcBuffer0)
                  {
                     recPtr = eventInfo.recptr.bcData0;

                     for (rec = 0; rec < pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.almostFull; rec++)
                     {
                        txRec1553.repeatCount = 1;
                        txRec1553.dataSize = 10; //10 bytes (command + 4 words)
                        txRec1553.data[0] = 0x0000; //Not used
                        txRec1553.data[1] = (UInt16)(0x1111 * rec);
                        txRec1553.data[2] = (UInt16)(0x1111 * rec);
                        txRec1553.data[3] = (UInt16)(0x1111 * rec);
                        txRec1553.data[4] = (UInt16)(0x1111 * rec);

                        Marshal.StructureToPtr(txRec1553, recPtr, false);

                        mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
                     }
                     rc = mxfMIL1553TxPeriodicUpdateMsgWrite(pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer, rec, eventInfo.recptr.bcData0);
                  }
                  else if (pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer == eventInfo.bcBuffer1) // Set data for BC buffer 1
                  {
                     recPtr = eventInfo.recptr.bcData1;

                     for (rec = 0; rec < pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.almostFull; rec++)
                     {
                        txRec1553.repeatCount = 1;
                        txRec1553.dataSize = 10; //10 bytes (command + 4 words)
                        txRec1553.data[0] = 0x0000; //Not used
                        txRec1553.data[1] = (UInt16)((rec % 2 > 0) ? 0xACDC : 0xCAFE);
                        txRec1553.data[2] = (UInt16)((rec % 2 > 0) ? 0xACDC : 0xCAFE);
                        txRec1553.data[3] = (UInt16)((rec % 2 > 0) ? 0xACDC : 0xCAFE);
                        txRec1553.data[4] = (UInt16)((rec % 2 > 0) ? 0xACDC : 0xCAFE);

                        Marshal.StructureToPtr(txRec1553, recPtr, false);

                        mxfMIL1553NextDataRecordPtrGet(recPtr, out recPtr);
                     }
                     rc = mxfMIL1553TxPeriodicUpdateMsgWrite(pendingList[0].condition.txPeriodicUpdateMsgBufferThreshold.buffer, rec, eventInfo.recptr.bcData1);
                  }
                  break;
            }
         }
         return rc;
      }
   }
}